How Robots See Fiducial Markers 👀

🧍 Jake Howard

🐦 @RealOrangeOne

👨‍💻 Senior Systems Engineer @ Torchbox

I Build Robots*

* I help others build robots

Fiducial Markers

How do fiducial markers work?

1. Capture an image

2. Thresholding

3. Edge Detection

4. Distortion

5. Bit extraction

6. Decoding

7. Pose Estimation

Demo 🙏

Endless possibilities 🤯

A single marker provides:

  • "id"
  • Rotation
  • Bearing
  • Distance
  • Object tracking
  • Localization
  • Identification

Don't do it yourself

pip install zoloto


              from pathlib import Path

              from zoloto import MarkerType
              from zoloto.cameras import Camera

              with Camera(marker_type=MarkerType.APRILTAG_36H11) as camera:
                for frame in camera:
                  print(
                    "Markers I can see:",
                    len(camera.get_visible_markers(frame=frame))
                  )

More‽

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